Diff: main.cpp

Revision:

1:357e2c6d4e66

Parent:

0:f9546c3e2e72

Child:

2:53177e0d0c43

--- a/main.cpp	Tue May 26 19:46:52 2015 +0000
+++ b/main.cpp	Mon Jul 13 23:17:35 2015 +0000
@@ -1,43 +1,83 @@
 #include "mbed.h"
+#include "DebounceIn.h"
 
 DigitalOut myled(LED1); //Indicator light to indicate the program is running
-DigitalOut motor(D4); //To MOSFET
-DigitalOut indic(LED2); //Indicate Hall ES State
-DigitalIn hall(D6); //HFS (deprecated?)
-DigitalIn swiRe(D1); //Rear Limit Switch
-DigitalIn swiFr(D2); //Front Limit Switch
+//PwmOut motor(D2); //To MOSFET
+DigitalOut motor(D2); //Direct Drive the motor
+DigitalOut indicRe(LED2); //Indicate Rear Switch State
+DigitalOut indicFr(LED3); //Indicate Front Switch State
+//DigitalOut indicHa(LED4); //Indicate Hall Switch State
+DebounceIn swiRe(D5); //Rear Limit Switch
+DebounceIn swiFr(D6); //Front Sensor Switch
+
+Timer t; //timer for last fr hit
+int cuttFr = 1000; //ms time front
+int cuttRe = 500; //ms time rear
+bool prevSwi = 0; //previously hit switch -- 0 Re, 1 Fr
+bool motorSo = 0;
+
+int count = 0; //count of cycles
+
 
 int main() {
     myled = 1;
-        wait(0.2);
-        myled = 0;
-        wait(0.2);
-        myled = 1;
-        wait(0.2);
-        myled = 0;
-        wait(0.2);
-        myled = 1;
+    wait(0.2);
+    myled = 0;
+    wait(0.2);
+    myled = 1;
+    wait(0.2);
+    myled = 0;
+    wait(0.2);
+    myled = 1;
+    t.start();
+    printf("Start!\n");
     while(1) {
-        if (swiRe&&(~swiFr)){
-            motor = 1;
-            indic = 1;
+        if (swiFr){
+            indicFr = 0;
+            wait(.75);
+            if (swiRe==0){
+                indicFr = 0;
+                indicRe = 1;
+                /*
+                myled = 0;
+                motor.write(0.25f);
+                wait(.2);
+                motor.write(0.35f);
+                wait(.2);
+                motor.write(0.45f);
+                wait(.2);
+                motor.write(0.55f);
+                wait(.1);
+                motor.write(0.65f);
+                wait(.1);
+                motor.write(0.75f);
+                wait(.1);
+                motor.write(0.85f);
+                wait(.1);
+                motor.write(0.95f);
+                wait(.1);
+                motor.write(1.00f);
+                } */
+                motor = 1;}
+            while (swiRe==0){
+                indicFr = 0;
+                indicRe = 1;
+                myled = 0;
+                //motor.write(1.00f);
+                }
+            indicRe = 0;
+            indicFr = 1;
+            myled = 1;
+            //wait(1);
+            motor= 0;
+            count++;
+            printf("Motor State Switch!! %d cycles \n",count);
             }
-            
-        if((~swiRe)&&swiFr){
-            motor = 0;
-            indic = 0;
+        else {
+            indicRe = 1;
+            indicFr = 1;
             }
-        //if (hall==1){
-        //    motor = 1;
-        //    indic = 1;
-        //    }
-        //if (hall == 0) {
-        //    motor= 0;
-        //    indic = 0;
-        //    }
-         
-                   
-        
-    
+
     }
 }
+